A Coupling Feedforward Control Method for Robot
A feedforward control and feedforward controller technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as restricting control quality, and achieve the effect of simple algorithm and easy implementation.
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[0016] In order to make the technical solution of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific examples described here are only used to explain the present invention, but are not limited to this example.
[0017] A kind of coupling feed-forward control method for robot of the present invention (such as figure 1 shown), including the following steps:
[0018] (a) each joint motor of the robot is connected to a servo driver respectively and each servo driver is connected to the feed-forward controller, the feedback controller and the coupling feed-forward controller of each joint motor respectively, and the feedback controller adopts PID Controller, feedforward controller adopts speed and acceleration feedforward controller;
[0019] The feed-forward controller is based on the expected position value θ of the motor connected to the controll...
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